U.S. patent application number 16/149843 was filed with the patent office on 2019-01-31 for methods and apparatus for calibration of a sensor associated with an endoscope.
This patent application is currently assigned to Boston Scientific Scimed, Inc.. The applicant listed for this patent is Boston Scientific Scimed, Inc.. Invention is credited to Jane BAREAU, Laura KEITH, Nathaniel McCAFFREY, James McNALLY, Jason SPROUL.
Application Number | 20190029500 16/149843 |
Document ID | / |
Family ID | 51420496 |
Filed Date | 2019-01-31 |
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United States Patent
Application |
20190029500 |
Kind Code |
A1 |
McCAFFREY; Nathaniel ; et
al. |
January 31, 2019 |
METHODS AND APPARATUS FOR CALIBRATION OF A SENSOR ASSOCIATED WITH
AN ENDOSCOPE
Abstract
Embodiments of the invention include an apparatus including an
enclosure configured to receive an endoscope having an
electromagnetic radiation sensor. The apparatus also includes an
electromagnetic radiation source having at least a portion disposed
within the enclosure. The electromagnetic radiation source is
configured to emit electromagnetic radiation based on a calibration
instruction. The electromagnetic radiation sensor is configured to
receive at least a portion of the electromagnetic radiation when at
least a portion of the endoscope is coupled to the enclosure.
Inventors: |
McCAFFREY; Nathaniel; (Mill
Valley, CA) ; BAREAU; Jane; (Needham, MA) ;
KEITH; Laura; (Acton, MA) ; McNALLY; James;
(San Diego, CA) ; SPROUL; Jason; (Watertown,
MA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Boston Scientific Scimed, Inc. |
Maple Grove |
MN |
US |
|
|
Assignee: |
Boston Scientific Scimed,
Inc.
Maple Grove
MN
|
Family ID: |
51420496 |
Appl. No.: |
16/149843 |
Filed: |
October 2, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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15641019 |
Jul 3, 2017 |
10117565 |
|
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16149843 |
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14196897 |
Mar 4, 2014 |
9723972 |
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15641019 |
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61772373 |
Mar 4, 2013 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 1/00057 20130101;
A61B 1/00131 20130101 |
International
Class: |
A61B 1/00 20060101
A61B001/00 |
Claims
1-20. (canceled)
21. A method of calibrating an endoscope, the method comprising:
receiving a distal end portion of the endoscope in a calibration
unit, wherein the endoscope includes a sensor; selecting
calibration instructions associated with the sensor, wherein the
calibration instructions define a first calibration target and a
second calibration target different from the first calibration
target; receiving a first signal from the sensor based on the first
calibration target; receiving a second signal from the sensor based
on the second calibration target; determining one or more
correction factors based on the first signal and the second signal;
and calibrating the sensor based on the one or more correction
factors.
22. The method of claim 21, wherein selecting the calibration
instructions includes identifying an endoscope type after receiving
the distal end portion of the endoscope, and selecting the
calibration instructions based on the endoscope type.
23. The method of claim 21, wherein the first calibration target
includes a first light intensity, and the second calibration target
includes a second light intensity greater or less than the first
light intensity.
24. The method of claim 21, wherein the calibrating includes
calibrating individual pixels of the sensor.
25. The method of claim 21, wherein the one or more correction
factors includes an additive or multiplicative factor applied to
one or more pixels of the sensor.
26. The method of claim 21, wherein the distal end portion of the
endoscope is mated to the calibration unit by an adapter during
calibration of the sensor.
27. The method of claim 21, wherein the first calibration target
includes a color field or a bore sighting image.
28. The method of claim 21, wherein calibrating the sensor includes
determining a responsiveness of the sensor to at least one of the
first calibration target or the second calibration target based on
a voltage level, a current level, or a digital number.
29. The method of claim 28, wherein calibrating the sensor includes
determining whether the responsiveness of the sensor meets a
threshold condition.
30. A method of calibrating an endoscope, the method comprising:
selecting calibration instructions associated with a sensor of the
endoscope, wherein the calibration instructions define a first
calibration target and a second calibration target different from
the first calibration target; receiving a first signal from the
sensor based on the first calibration target; after receiving the
first signal, receiving a second signal from the sensor based on
the second calibration target; determining one or more correction
factors based on the first signal and the second signal; and
calibrating the sensor based on the one or more correction
factors.
31. The method of claim 30, wherein the sensor comprises a
charge-coupled device.
32. The method of claim 30, wherein the first calibration target
includes an image displayed at a first light intensity, and the
first signal includes a frame of the image.
33. The method of claim 30, wherein the sensor comprises a
plurality of pixels, and calibrating the sensor includes
calibrating individual pixels in serial.
34. The method of claim 30, wherein the sensor comprises a
plurality of pixels, and calibrating the sensor includes
calibrating individual pixels in parallel.
35. The method of claim 30, wherein the one or more correction
factors includes an additive or multiplicative factor applied to
one or more pixels of the sensor.
36. A method of calibrating an endoscope, the method comprising:
selecting calibration instructions associated with a sensor of the
endoscope, wherein the calibration instructions define a first
calibration target and a second calibration target different from
the first calibration target; receiving a first signal from the
sensor based on the first calibration target; after receiving the
first signal, receiving a second signal from the sensor based on
the second calibration target; determining one or more correction
factors based on the first signal and the second signal; and
calibrating the sensor based on the one or more correction
factors.
37. The method of claim 36, wherein selecting the calibration
instructions includes identifying an endoscope type after receiving
the distal end portion of the endoscope, and selecting the
calibration instructions based on the endoscope type.
38. The method of claim 36, wherein each of the first calibration
target and the second calibration target includes a color field or
a bore sighting image.
39. The method of claim 36, wherein calibrating the sensor includes
determining a responsiveness of the sensor to at least one of the
first calibration target or the second calibration target based on
a voltage level, a current level, or a digital number; and
determining whether the responsiveness of the sensor meets a
threshold condition.
40. The method of claim 36, wherein the sensor comprises a
plurality of pixels, and calibrating the sensor includes
calibrating individual pixels in serial or in parallel.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of priority from U.S.
Provisional Application No. 61/772,373, filed on Mar. 4, 2013, the
entirety of which is incorporated by reference herein.
FIELD
[0002] Embodiments of the invention relate generally to calibration
of an endoscope, and, in particular, to methods and apparatus for
calibration of a sensor associated with an endoscope.
BACKGROUND
[0003] An image detector in one endoscope can have a responsiveness
that is different than the responsiveness of an image detector in
another endoscope, even if the image detectors are similarly
configured and were produced using the same process. Even a single
image detector of an endoscope can have individual pixels that
respond differently to incident light relative to other pixels of
that image detector. Often, the variations in responsiveness can be
caused by, for example, different operating conditions and/or
manufacturing variations (e.g., semiconductor processing
variation). Furthermore, the responsiveness of an image detector of
an endoscope can change as the image detector and/or endoscope
ages. Variations in the responsiveness of image detectors can be
undesirable in many endoscopic applications (e.g., clinical
applications).
[0004] Known calibration procedures can be used to equalize and
normalize the responsiveness of image detectors of endoscopes
(e.g., pixel-to-pixel, endoscope-to-endoscope). These calibration
procedures, however, can be performed using a disposable endoscope
cover that cannot be used more than once. In addition, these
disposable endoscope covers can be limited to a single target
pattern. Alternatively, the calibration procedures can be performed
using a reusable calibration cup (or cover) that can degrade with
age and when not cleaned properly. In addition, the cup can be
limited to use with a uniform white field with no target pattern.
Thus, a need exists for a multi-use endoscopic calibration unit
that can have multiple targets and related methods.
SUMMARY
[0005] In one embodiment, an apparatus includes an enclosure
configured to receive an endoscope having an electromagnetic
radiation sensor. The apparatus also includes an electromagnetic
radiation source having at least a portion disposed within the
enclosure. The electromagnetic radiation source is configured to
emit electromagnetic radiation based on a calibration instruction.
The electromagnetic radiation sensor is configured to receive at
least a portion of the electromagnetic radiation when at least a
portion of the endoscope is coupled to the enclosure.
[0006] In another embodiment, a method includes emitting
electromagnetic radiation at a first time from an electromagnetic
radiation source that has at least a portion disposed within an
enclosure. The method also includes receiving a signal from a
sensor, and the signal is defined based on a portion of the
electromagnetic radiation received at the sensor while at least a
portion of an endoscope is received within the enclosure. The
method further includes emitting electromagnetic radiation at a
second time different than the first time in response to the signal
and based on a calibration algorithm associated with the
endoscope.
[0007] In a further embodiment, an apparatus includes an adapter
including an opening configured to be coupled to a portion of an
endoscope. The apparatus also includes a calibration unit including
a calibration target disposed within the calibration unit. The
calibration unit is configured to receive the adapter such that an
image sensor of the endoscope has a specified position relative to
the calibration target when the adapter is coupled to the
calibration unit and the endoscope is coupled to the adapter.
[0008] It is to be understood that both the foregoing general
description and the following detailed description are exemplary
and explanatory only and are not restrictive of the invention.
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] The accompanying drawings, which are incorporated in and
constitute a part of this specification, illustrate several
embodiments of the invention and together with the description,
serve to explain the principles of the invention.
[0010] FIG. 1 is a schematic diagram that illustrates an endoscope,
and a calibration unit configured to receive the endoscope and
calibrate a sensor associated with the endoscope, according to an
embodiment of the invention.
[0011] FIG. 2 is a schematic diagram illustrating a timeline of a
calibration procedure that can be implemented using the calibration
unit shown in FIG. 1, according to an embodiment of the
invention.
[0012] FIG. 3 is a schematic block diagram of a side
cross-sectional view of an endoscope and a calibration unit
configured for calibration of the endoscope, according to an
embodiment of the invention.
[0013] FIG. 4 is a flowchart that illustrates a method for
calibrating an endoscopic sensor using an active calibration
component of a calibration unit, according to an embodiment of the
invention.
[0014] FIG. 5 is a flowchart that illustrates a method for testing
an endoscopic sensor using an active calibration component of a
calibration unit, according to an embodiment of the invention.
[0015] FIG. 6 is a schematic block diagram that illustrates an
adapter disposed between an endoscope and a calibration unit,
according to an embodiment of the invention.
[0016] FIG. 7 is a schematic diagram that illustrates a calibration
unit, a set of endoscopes, and a set of adapters configured to be
coupled to the calibration unit and the respective endoscopes,
according to an embodiment of the invention.
[0017] FIG. 8 is a schematic block diagram that illustrates an
endoscope received by an adapter that has been received by a
calibration unit, according to an embodiment of the invention.
[0018] FIG. 9 is a schematic diagram that illustrates a
cross-sectional view of an endoscope received by an adapter that
has been received by a calibration unit, according to an embodiment
of the invention.
[0019] FIG. 10 is a schematic block diagram of a side
cross-sectional view of an endoscope received by an adapter that
has been received by a calibration unit, according to an embodiment
of the invention.
[0020] FIG. 11 is a schematic block diagram of a side
cross-sectional view of an endoscope received by an adapter that
has been received by a calibration unit, according to an embodiment
of the invention.
[0021] FIG. 12 is a schematic block diagram of a side
cross-sectional view of an endoscope received by an adapter that
has been received by a calibration unit, according to an embodiment
of the invention.
[0022] FIG. 13 is a flowchart that illustrates a method for
coupling an adapter to a calibration unit and coupling an endoscope
to the adapter, according to an embodiment of the invention.
DESCRIPTION OF THE EMBODIMENTS
[0023] Reference will now be made in detail to exemplary
embodiments, examples of which are illustrated in the accompanying
drawings. Wherever possible, the same reference numbers and
terminology will be used throughout the drawings to refer to the
same or like parts. Any aspect set forth in any embodiment may be
used with any other embodiment set forth herein.
[0024] In one embodiment, a calibration unit can be configured to
receive at least a portion of an endoscope such that one or more
sensors associated with the endoscope can be calibrated using a
calibration target at least partially disposed within an enclosure
defined by the calibration unit. A sensor associated with the
endoscope can be referred to as an endoscopic sensor. An endoscopic
sensor can be, for example, an electromagnetic (EM) radiation
sensor coupled to the endoscope (e.g., disposed within or on) and
configured to function as an image detector. Such an image detector
can be configured to receive and convert EM radiation reflected
from an object into one or more image-detector signals that can be
used to produce one or more images of the object on a display. The
EM radiation can include, for example, radio waves, microwaves,
terahertz radiation, infrared radiation, visible light, ultraviolet
radiation, x-rays, gamma rays, and/or so forth.
[0025] The calibration unit can be configured to calibrate an
endoscopic sensor based on a calibration instruction(s) (e.g., set
of calibration instructions, calibration algorithm) associated with
(e.g., defining) a calibration procedure. The calibration procedure
can have, for example, a pre-calibration portion, a calibration
portion, and/or a calibration test portion (which can be part of,
for example, a post-calibration portion). The calibration unit can
be configured to calibrate an endoscopic sensor based on a
signal(s) (e.g., feedback signal, control signal) associated with
one or more components of the calibration unit. The calibration
unit can also be in communication with the endoscope and can be
configured to calibrate the endoscopic sensor based on a signal(s)
(e.g., feedback signal, control signal) associated with one or more
components of the endoscope (e.g., processor, endoscopic
sensor).
[0026] In some embodiments, the calibration unit can have an active
calibration component that can be configured to define a
calibration target (e.g., a position, an image) for various
calibration procedures and/or the calibration of a variety of
endoscopes (e.g., endoscopic sensors). For example, the active
calibration component can be configured to define a calibration
target in response to a calibration instruction associated with a
calibration procedure associated with a particular endoscope. In
some embodiments, the calibration unit can be configured to, for
example, detect an endoscope (and/or endoscopic sensor)
type/characteristic and trigger execution of a calibration
instruction accordingly.
[0027] The active calibration component can include, for example,
an EM radiation source configured to emit EM radiation defining a
calibration target. The EM radiation source can be configured to
emit EM radiation, for example, at specified times (e.g., during
pre-calibration, during calibration, during post-calibration test)
and/or in a specified arrangement. In some embodiments, the active
calibration component can include one or more actuators configured
to move, for example, a portion of the active calibration component
(e.g., EM radiation source) to a specified position within the
calibration unit.
[0028] In some embodiments, the calibration unit can be configured
to receive an adapter(s) that is configured to receive a portion of
an endoscope(s) such that an endoscopic sensor has, for example, a
specified position (e.g., distance, rotational orientation)
relative to a component (e.g., calibration target, photodetector)
associated with the calibration unit. In some embodiments, a
calibration unit can include one or more components (e.g., sensor,
detector, processor) configured to determine whether or not a
portion of an endoscope and/or an adapter has been received in a
desirable manner by the calibration unit before calibration of a
sensor associated with the endoscope. In some embodiments, the
calibration unit and/or the adapter can have one or more removable
components. In some embodiments, the calibration unit, the adapter,
and/or the endoscope can have a variety of shapes with any
combination of curved and straight portions.
[0029] FIG. 1 is a schematic diagram that illustrates a calibration
unit 110 configured to receive an endoscope 100 and configured to
calibrate a sensor 104 associated with the endoscope 100, according
to an embodiment of the invention. The calibration unit 110 has an
active calibration component 112 and a calibration control module
118. The sensor 104 associated with the endoscope 100 (also
referred to as an endoscopic sensor 104) is an EM radiation sensor
or other type of sensor configured to function as an image detector
(e.g., a charge-coupled device (CCD), a pixel array) that can be
associated with a lens or set of lenses. The endoscopic sensor 104
can be calibrated based on a calibration procedure when at least a
portion of the endoscope 100, such as a distal end portion 102 of
the endoscope 100, is coupled to (e.g., received within an opening
of) the calibration unit 110.
[0030] The active calibration component 112 is configured to define
a calibration target in response to a calibration instruction
associated with, for example, the endoscopic sensor 104 and/or a
calibration procedure. The active calibration component 112, in
some embodiments, can include an EM radiation source such as a
single point illuminator (e.g., light emitting diode (LED), halogen
light, incandescent light) and/or a display such as a liquid
crystal display (LCD). The EM radiation source can be configured to
emit EM radiation defining a calibration target towards the
endoscopic sensor 104 during a calibration procedure associated
with the endoscopic sensor 104 when the endoscope 100 is coupled to
the calibration unit 110.
[0031] The active calibration component 112 can be configured to
define a variety of calibration targets (also referred to as a
target or a calibration target image) such as, for example, any
combination of a uniform white field at any color temperature, a
uniform black field, a uniform color field having a specified color
(e.g., a band of wavelengths centered around red, or green, etc.)
or range of colors, a bore sighting image (e.g., concentric circles
to estimate astigmatism), an image for calibrating resolution, an
image used for lens aberration correction, and an advanced spectral
imaging calibration target, etc. In some embodiments, the EM
radiation source can be used to define a calibration target by
emitting EM radiation, for example, onto a screen (not shown)
disposed within an enclosure defined by the calibration unit
110.
[0032] In some embodiments, the active calibration component 112
can have a portion (e.g., static calibration image, calibration
target defined by an EM radiation source) configured to move
between one or more positions within the calibration unit 110 via
an actuator (not shown). An example of an active calibration
component having a portion configured to move via an actuator is
discussed in connection with FIG. 3.
[0033] The active calibration component 112, can be modified
during, any time before, and/or any time after a pre-calibration
portion, a calibration portion, and/or a calibration test portion
associated with a calibration procedure. FIG. 2 is a schematic
diagram illustrating a timeline of a calibration procedure 200 that
can be implemented using the calibration unit 110 shown in FIG. 1,
according to an embodiment of the invention. The timeline of the
calibration procedure 200 includes a pre-calibration portion 210, a
calibration portion 220, and a post-calibration portion 230.
[0034] The pre-calibration portion 210 can include, for example,
execution of a start-up algorithm for the calibration unit 110
and/or initialization/resetting of components (e.g., active
calibration component 112) associated with the calibration unit
110. The pre-calibration portion 210 can be triggered, for example,
in response to the endoscope 100 being coupled to the calibration
unit 110.
[0035] The calibration portion 220 can include, for example,
execution of one or more calibration algorithms (e.g., a
multi-point calibration algorithm) for calibrating the endoscopic
sensor 104. A calibration algorithm can include defining a
calibration target using the active calibration component 112,
receiving/collecting data associated with the endoscopic sensor 104
based on the calibration target, and/or calculating one or more
correction factors associated with the endoscopic sensor 104. The
calibration algorithm can be, for example, a reduced noise
calibration algorithm performed at different light levels (e.g.,
greater than or equal to zero light intensity) and/or a calibration
algorithm associated with a specified spectral region of EM
radiation. The correction factor(s) can be, for example, a linear
luminance correction factor(s), a color gain correction factor(s),
a white balance correction factor(s), a resolution correction
factor(s), and/or a lens aberration (e.g., pincushion distortion,
barrel distortion) correction factor(s).
[0036] In some embodiments, different portions of the endoscope 100
can be calibrated serially or in parallel during the calibration
portion 220 of the calibration procedure timeline 200. The
different portions can be, for example, different image-detecting
elements (not shown) within the endoscopic sensor 104 and/or
different sensors (not shown) of the endoscope 100. The different
image-detecting elements (e.g., pixels) can be individually
calibrated to have a target responsiveness or to produce a target
response using the calibration unit 110. The different
image-detecting elements can be associated with different spectral
regions of EM radiation. The different portions of the endoscope
100 can be calibrated using different calibration algorithms during
the calibration portion 220 of the calibration procedure timeline
200.
[0037] The post-calibration portion 230 can include, for example,
verification of the accuracy of one or more correction factors
calculated during the calibration portion 220 of a calibration
procedure. The accuracy of the correction factor(s) can be
determined based on test calibration targets defined by the active
calibration component 112. The post-calibration portion 230 can
include, for example, a determination that the endoscope 100 is
operating according to a specification and/or is capable of
supporting a clinical application (e.g., has sufficient resolution
for a particular clinical application). More details related to
calibration procedures are discussed in connection with the
flowcharts shown in FIGS. 4 and 5.
[0038] During each of the portions 210, 220, and 230 of the
calibration procedure, a control loop(s) (e.g., a feedback loop,
feedforward loop) can be implemented by the calibration control
module 118 based on signals from sensors 104 associated with the
endoscope 100 and/or calibration unit 110. For example, during the
calibration portion 220 a feedback loop can be implemented such
that the intensity level of a calibration target image defined by
the active calibration component 112 can be held substantially at a
specified set point. The time constants of the control loop can be
defined and/or adjusted to avoid changes that could adversely
affect calibration of the endoscopic sensor 104. In some
embodiments, the time constants associated with the control loops
can be based on the responsiveness of the endoscopic sensor 100.
More details related to control loops and signals from sensors are
discussed in connection with FIG. 3.
[0039] In some embodiments, the calibration procedure associated
with the calibration procedure timeline 200 can include additional
and/or different portions having a different order than those shown
in FIG. 2. For example, in some embodiments, a calibration
procedure can include, for example, only a post-calibration portion
and not a calibration portion. In some embodiments, a calibration
procedure can include a post-calibration test after each sensor
from a multi-sensor endoscope has been calibrated. In some
embodiments, an endoscope(s) can be calibrated using a calibration
procedure before being used in a clinical application and later
re-calibrated with the calibration procedure (or a different
calibration procedure) during an intermediate portion of the
clinical application.
[0040] Referring back to FIG. 1, the calibration control module 118
can be configured to control at least a portion of the calibration
unit 110, such as the active calibration component 112, and/or at
least a portion of the endoscope 100 during a calibration procedure
associated with the endoscopic sensor 104. For example, in some
embodiments, the active calibration component 112 can be triggered
to define a calibration target image in response to a signal from
the calibration control module 118 during a calibration procedure
(e.g., based on one or more instructions associated with the
calibration procedure). The calibration control module 118 can also
trigger the endoscopic sensor 104, for example, to capture a frame
of the calibration target image defined by the active calibration
component 112.
[0041] The calibration control module 118 can also be configured to
process data associated with the calibration unit 110 and/or the
endoscope 100 during a calibration procedure. For example, the
calibration control module 118 can process data received from the
endoscope 100 and/or data associated with the active calibration
component 112, for example, to calculate one or more correction
factors associated with the endoscopic sensor 104. Data received
from the endoscope 100 can also be processed by the calibration
control module 118, for example, during a post-calibration test to
determine the accuracy of a correction factor calculated during a
calibration portion of a calibration procedure.
[0042] In some embodiments, the calibration control module 118 can
be a hardware-based module (e.g., processor, application-specific
integrated circuit (ASIC), field programmable gate array (FPGA),
read-only memory (ROM)) and/or software-based module (e.g., set of
instructions executable at a processor, software code). For
example, the calibration control module 118 can have a processor
(not shown) configured to access a calibration instruction from a
memory (not shown) associated with the calibration control module
118. The processor can be configured to send and/or receive signals
to trigger the active calibration component 112 to define a
calibration target at different times during the calibration
procedure. The processor can also be configured to send and/or
receive signals to trigger the endoscopic sensor 104 to capture
frames and/or send signals/data at different times during the
calibration procedure.
[0043] In some embodiments, the calibration unit 110 can be
configured to receive and detect different types of endoscopes (not
shown) that may have one or more different sensors and/or
calibration requirements (e.g., specified environmental conditions,
specified calibration limits) that can be associated with operating
conditions within, for example, a clinical application. In some
embodiments, the calibration control module 118 can be configured
to, for example, detect an endoscope type when, for example, the
endoscope is inserted into the calibration unit 110 for
calibration. The calibration control module 118 can be configured
to, for example, select and/or execute, based on the endoscope
type, one or more calibration instructions from a library of
calibration instructions. The active calibration component 112 can
be controlled (e.g., triggered to define a calibration target,
moved) and/or the endoscope of the particular type can be triggered
to perform a function based on the calibration instruction.
[0044] In some embodiments, one or more functions associated with
the calibration control module 118 can be performed outside of the
calibration unit 110. For example, in some embodiments, one or more
calibration instructions can be executed by and/or stored at a
calibration control module (not shown) disposed outside of the
calibration unit 110. The calibration control module can be
included in, for example, a computer system (e.g., personal
computer, database, control server) in communication with the
calibration unit 110 via, for example, a wired and/or wireless
network (not shown). In these embodiments, the calibration unit 110
can be optionally configured without one or more portions or
functionalities of the calibration control module 118.
[0045] In some embodiments, one or more portions of the active
calibration component 112 can be disposed outside an enclosure (not
shown) defined by the calibration unit 110. For example, in some
embodiments, one or more portions of the active calibration
component 112 can be disposed outside of the calibration unit 110
or controlled (e.g., moved) using a controller disposed outside of
the calibration unit 110. In some embodiments, the calibration unit
110 can include more than one active calibration component (not
shown).
[0046] In some embodiments, an adapter (not shown in FIG. 1) can be
disposed between the endoscope 100 and the calibration unit 110.
For example, the adapter can be used to mate the distal end portion
102 of the endoscope 100 with the calibration unit 110 such that
the endoscopic sensor 104 can have a specified position (e.g.,
distance, orientation) relative to a portion of the active
calibration component 112. More details related to adapters
associated with a calibration unit and/or an endoscope are
discussed in connection with FIGS. 6 through 13.
[0047] FIG. 3 is a schematic block diagram of a side
cross-sectional view of a calibration unit 320 configured for
calibration of an endoscope 300, according to an embodiment of the
invention. The endoscope 300 has a light source 304 and an image
detector 306. The calibration unit 320 and endoscope 300 are
configured such that the image detector 306 can be calibrated when
the endoscope 300 is coupled to the calibration unit 320.
[0048] As shown in FIG. 3, the calibration unit 320 is an enclosure
that includes an active calibration component 330, a calibration
control module 340, and a sensor (e.g., a photodetector) 344. The
calibration control module 340 is in communication with the
endoscope 300 such that the calibration control module 340 can
trigger the endoscope 300 to, for example, capture an image and/or
send data to the calibration control module 340 during a
calibration procedure. The calibration control module 340 is also
in communication with the active calibration component 330 such
that the calibration control module 340 can trigger the active
calibration component 330 to, for example, define a calibration
target based on a calibration procedure associated with the image
detector 306.
[0049] As shown in FIG. 3, at least a portion of a distal end
portion 302 of the endoscope 300 has been received into an opening
326 of the calibration unit 320 and is in contact (or near contact)
with a window 310 that is substantially transparent to one or more
spectral regions of EM radiation. In some embodiments, the
endoscope 300 is configured to contact (or nearly contact) the
window 310 such that small imperfections associated with the window
310 may not be perceptible to the image detector 306 (e.g., out of
focus) during calibration, and thus, may not affect calibration of
the image detector 306.
[0050] In some embodiments, the window 310 can be configured to
have a specified thickness and the distal end portion 302 of the
endoscope 300 can be configured to abut (or nearly contact) the
window 310 such that distance 372 between the image detector 306
and an EM radiation source 356 (described below) can be a specified
distance during calibration of the image detector 306. In some
embodiments, the calibration unit 320 can have a stop (e.g.,
protrusion, pin) or set of blocking components that can be used to
ensure that the image detector 306 is a specified distance 372 from
the calibration target. In some embodiments, the calibration unit
320 can have a sensor (not shown) configured to detect the distance
372 of the image detector 306 relative to the EM radiation source
356. The detected distance 372 can be used to, for example, select
and/or modify a calibration procedure.
[0051] The endoscope 300 is received by the calibration unit 320
such that an environment within the calibration unit 320 can be
substantially controlled during calibration of the image detector
306. For example, the distal end portion 302 of the endoscope 300
and the calibration unit 320 can be configured to mate such that
the environment outside of the calibration unit 320 (e.g., ambient
light, debris, air) is substantially prevented from entering the
enclosure defined by the walls 322 of calibration unit 320 during
calibration of the image detector 306. Although not shown, a
sealing mechanism (not shown) such as an o-ring can be disposed
between the endoscope 300 and the calibration unit 320 to
substantially prevent influence from the ambient environment during
calibration of the image detector 306.
[0052] The calibration unit 320 also optionally includes a sensor
312 (can be referred to as a placement sensor) to determine whether
or not the endoscope 300 (e.g., the distal end portion 302) is
present or has been inserted in a desirable manner (e.g., fully
inserted) into the calibration unit 320. In some embodiments, the
sensor 312 can be used to trigger execution of any portion of a
calibration procedure, for example, when the presence of the
endoscope 300 is detected. In some embodiments, the sensor 312 can
be used to trigger termination of any portion of a calibration
procedure, for example, when the endoscope 300 is prematurely
removed during the calibration procedure. In some embodiments, the
sensor 312 can be a non-contact sensor.
[0053] Although in this embodiment, the endoscope 300 has been
inserted into the opening 326 of the calibration unit 320, in some
embodiments, a calibration unit (not shown) can be configured to
receive a distal end portion of an endoscope (not shown) on an
outside portion of the calibration unit. For example, the endoscope
can be coupled to the calibration unit using a latch and/or another
mechanism (e.g., locking mechanism). The endoscope can be coupled
to a seal of the calibration unit to substantially prevent, for
example, ambient light and/or air from entering the calibration
unit 320 during a calibration procedure associated with the
endoscope.
[0054] As shown in FIG. 3, the active calibration component 330
includes the EM radiation source 356 and an actuator 350 configured
to move the EM radiation source 356. The EM radiation source 356
can be an LCD screen. The actuator 350 includes a motor 352 coupled
to and configured to rotate a threaded screw 354 about a
longitudinal axis of the threaded screw 354. The EM radiation
source 356 is coupled to the threaded screw 354 via a threaded
collar (not shown) such that the EM radiation source 356 can be
moved along the longitudinal axis of the threaded screw 354 when
the threaded screw 354 is rotated. In particular, the actuator 350
is configured to move the EM radiation source 356 relative to the
image detector 306 such that, for example, the distance 372 between
EM radiation source 356 and the image detector 306 is at a desired
setting during a particular portion of a calibration procedure
associated with the image detector 306. In some embodiments, the
distance 372 can be defined to accommodate calibration of a
specified range of working distances, a specified field of view,
and/or zoom optics (not shown) associated with the image detector
306.
[0055] Although not shown, an actuator can be configured to modify
the angle of the EM radiation source 356 relative to, for example,
the longitudinal axis of the endoscope 300. In some embodiments, an
actuator (not shown) can be configured to move the EM radiation
source 356 based on a pulley system or a mechanism having gears.
The EM radiation source 356 can be, in some embodiments, replaced
with a static calibration target image (not shown) such as a
printed image defined for use in a calibration procedure.
[0056] In some embodiments, the window 310 can be configured to
filter and/or diffuse one or more spectral region(s) of EM
radiation during calibration of the image detector 306. For
example, the window 310 can be configured such that the window 310
is substantially transparent to spectral regions of EM radiation
that can be detected by the image detector 306. In some
embodiments, calibration unit 320 can be configured such that the
window 310 is a removable window 310 that can be replaced, for
example, when scratched, cracked, and/or a different filtering
window (not shown) is desired during calibration of the image
detector 306 (or an image detector of a different endoscope coupled
to the calibration unit 320). In some embodiments, an additional
static target, screen, and/or filter (not shown) can be disposed
between the endoscope 300 and any portion of the active calibration
component 330 during calibration.
[0057] As shown in FIG. 3, the calibration unit 320 has the
photodetector 344 configured to detect EM radiation within the
calibration unit 320. In this embodiment, the photodetector 344 is
in communication with the calibration control module 340. One or
more signals from the photodetector 344 can be used by the
calibration control module 340, for example, in a feedback loop to
control the spectral characteristics and/or the intensity of
calibration target images defined by the EM radiation source
356.
[0058] In some embodiments, one or more signals from the
photodetector 344 can be used, for example, by the calibration
control module 340 to control operation of the endoscope 300 during
a calibration procedure. For example, signals from the
photodetector 344 can be used in a control loop (e.g., feedback
loop) to modify light (or more generally EM radiation) emitted from
the light source 304 (if the light source 304 is used during a
calibration procedure). Signals from the photodetector 344 can be
used to calibrate, for example, an aperture (not shown) associated
with the endoscope 300.
[0059] In some embodiments, the calibration unit 320 can have a
variety of sensors such as a temperature sensor (not shown) and/or
a pressure sensor (not shown). The temperature sensor and/or
pressure sensor can be used by the calibration control module 340
to monitor/control the environment within the calibration unit 320
and/or any portion of the active calibration component 330 during a
calibration procedure. The temperature within the calibration unit
320 can be adjusted using, for example, a heating/cooling element
(not shown). The pressure within the calibration unit 320 can be
adjusted using, for example, a valve system (not shown) or pump
(not shown).
[0060] In some embodiments, the calibration unit 320 can be
configured to calibrate a sensor other than the image sensor 306,
For example, the calibration unit 320 can be configured to
calibrate the light source 304, a temperature sensor (not shown),
or a pressure sensor (not shown) associated with the endoscope
300.
[0061] Although not shown, the calibration unit 320 can have one or
more input ports, output ports, and/or antennas, that can be used
for communication with, for example, the endoscope 300. In some
embodiments, the endoscope 300 can be configured to communicate
with the calibration control module 340 via a wired communication
link and/or a wireless communication link. Although in this
embodiment the calibration control module 340 is in direct
communication with the endoscope 300, in some embodiments, the
calibration control module 340 is configured to communicate with
the endoscope via a separate device (not shown), such as a
computer. In some embodiments, the calibration unit 320 can be
configured with a display (not shown) or other indicator (not
shown) that can be used to communicate instructions to a user of
the calibration unit 320.
[0062] FIG. 4 is a flowchart that illustrates a method for
calibrating an endoscopic sensor using an active calibration
component of a calibration unit, according to an embodiment of the
invention. Portions of the method illustrated in the flowchart can
be used during any portion of a calibration procedure.
[0063] The flowchart illustrates that a portion of an endoscope is
coupled to a calibration unit at 400. In some embodiments, a
portion of the endoscope can be received within a portion of the
calibration unit. The calibration unit can be configured to prompt
a user to couple the endoscope to the calibration unit. A
communication link between the calibration unit and the endoscope
can be established when the endoscope is coupled to the calibration
unit. In some embodiments, the calibration unit can be configured
to detect whether or not the endoscope has been properly coupled to
the calibration unit and an initialization procedure (e.g.,
procedure for turning-on/warming-up) can be executed.
[0064] A calibration target is defined using an active calibration
component at 410. The calibration target can be defined by the
active calibration component in response to a calibration
instruction associated with, for example, a calibration procedure
or triggered via input from a user. The calibration target can be
defined by, for example, EM radiation emitted from an EM radiation
source associated with the active calibration component in a
specified arrangement, at a specified intensity, and/or at a
specified distance/orientation towards the endoscope.
[0065] A frame is captured by an endoscopic sensor associated with
the endoscope based on the calibration target at 420. If the
calibration target is defined by an EM radiation source, the frame
can be captured based on EM radiation emitted towards the
endoscopic sensor. The frame can be captured in response to a
signal from the calibration unit (e.g., calibration control
module). In some embodiments, multiple frames can be captured by
the endoscopic sensor. In some embodiments, the frame can be
captured by a portion of the endoscopic sensor. In some
embodiments, the calibration target can be illuminated by an EM
radiation source associated with the endoscope and/or the
calibration unit such that the frame can be captured.
[0066] Data associated with the captured frame is received at the
calibration unit at 430. One or more correction factors can be
calculated at the calibration unit based on the data at 440 and/or
the correction factor(s) can be sent from the calibration unit to
the endoscope at 450. In some embodiments, any of the data
processing and correction factor processing associated with blocks
430, 440, and/or 450 can be performed at a calibration control
module associated with the calibration unit or a module separate
from the calibration unit. In some embodiments, multiple correction
factors can be calculated per frame. For example, the correction
factors can represent an additive or multiplicative factor to be
applied to each pixel in the frame (e.g., so that there can be up
to millions of correction factors per frame). The correction
factors can be sent from the calibration unit to the endoscope, and
applied in real time to streaming data or in a post-processing
step. In some embodiments, calculation of a correction factor may
not be necessary if the performance of the endoscope meets
specified requirements (e.g., threshold conditions).
[0067] In some embodiments, any of the blocks associated with the
flowchart can be performed at different times, such as in a
different order, or repeated within a calibration procedure. For
example, a first calibration target can be defined at a first light
intensity during a first time period and a frame of the first
calibration target can be captured by an endoscope during the first
time period. A second calibration target can be defined at a second
light intensity during a second time period after the first time
period and a frame of the second calibration target can be captured
by the endoscope during the second time period. After the frame of
the first calibration target and a frame of the second calibration
target have been captured, data associated with the frames can then
be used to calculate one or more correction factors.
[0068] In some embodiments, a control loop such as a feedback loop
can be employed during any portion of the flowchart. For example,
the calibration unit can be configured to use a feedback signal
from a photodetector to maintain a calibration target emitted from
an EM radiation sensor associated with an active calibration
component at a specified light intensity.
[0069] In some embodiments, calibration of the endoscope can be
performed to equalize/normalize the responsiveness of the endoscope
over time. Accordingly, data from multiple calibrations of the
endoscope can be used to calculate a correction factor for the
endoscope, if necessary. In some embodiments, calibration of the
endoscope can be performed to equalize/normalize the responsiveness
of the endoscope with other endoscopes. Accordingly, data from
multiple endoscopes can be used to calculate a correction factor
for the endoscope, if necessary.
[0070] FIG. 5 is a flowchart that illustrates a method for testing
an endoscopic sensor using an active calibration component of a
calibration unit, according to an embodiment of the invention.
Portions of the method illustrated in the flowchart can be used
during any portion of a calibration procedure. The method
illustrated in FIG. 5 can be implemented, for example, after the
method illustrated in FIG. 4 to determine whether or not a
correction factor calculated at 440 and applied by the endoscope
will enable the endoscopic sensor to satisfy a threshold condition
associated with a clinical application.
[0071] A test target is defined using an active calibration
component disposed within the calibration unit at 510. The test
target can be defined by the active calibration component in
response to a calibration instruction associated with a calibration
procedure. The test target can be analogous or identical to a
calibration target. In some embodiments, the test target can be
defined by, for example, EM radiation emitted from an EM radiation
source associated with the active calibration component towards the
endoscope.
[0072] A frame is captured at an endoscopic sensor of the endoscope
based on the test target at 520. If the test target is defined by
an EM radiation source, the frame can be captured based on EM
radiation emitted towards the endoscopic sensor. The frame can be
captured in response to a signal from the calibration unit (e.g.,
calibration control module). In some embodiments, multiple frames
can be captured by the endoscopic sensor and/or the frame(s) can be
captured by a portion of the endoscopic sensor. In some
embodiments, the test target can be illuminated by an EM radiation
source associated with the endoscope and/or the calibration unit
such that the frame can be captured. In some embodiments, the frame
can be captured based on a correction factor calculated, for
example, based on the method illustrated in FIG. 4.
[0073] A responsiveness of the endoscopic sensor and/or a portion
of the endoscopic sensor (e.g., a particular set of pixels of an
endoscopic sensor) is determined based on data associated with the
captured frame at 530. In some embodiments, the data associated
with the captured frame can be compared with data associated with
(e.g., used to define) the test target. The differences, if any,
can be quantified to calculate the responsiveness of the endoscopic
sensor. The responsiveness, in some embodiments, can be referred to
as a sensitivity. The responsiveness of the endoscopic sensor
and/or portions of the endoscopic sensor can be, for example,
characterized in terms of a voltage level value(s), a current level
value(s), and/or a digital number(s) (DN).
[0074] The responsiveness of the endoscopic sensor and/or the
portion of endoscopic sensor with respect to a threshold condition
is determined at 540. The threshold condition can be based on, for
example, an operating condition associated with a clinical
application. A notification regarding whether the responsiveness of
the endoscopic sensor and/or the portion of the endoscopic sensor
did or did not satisfy the threshold condition can be sent to, for
example, a user or a display. In some embodiments, the EM source
can be moved relative to the endoscope based on the data associated
with the captured frame and/or the determined responsiveness. In
some embodiments, a correction factor can be modified and/or an
additional correction factor can be calculated. The modified
correction factor and/or additional correction factor can be
verified using the method illustrated in FIG. 5.
[0075] FIG. 6 is a schematic block diagram that illustrates an
adapter 610 disposed between an endoscope 600 and a calibration
unit 620, according to an embodiment of the invention. The adapter
610 is configured to be coupled to (e.g., removably coupled to) the
calibration unit 620, and the endoscope 610 is configured to be
coupled (e.g., removably coupled to) to the adapter 610.
[0076] In some embodiments, the endoscope 600, the adapter 610, and
the calibration unit 620 can be collectively configured such that
the endoscope 600 has a specified position with respect to one or
more components of the calibration unit 620 when an endoscopic
sensor (not shown) associated with the endoscope 600 is calibrated
using the calibration unit 620. The endoscope 600, the adapter 610,
and the calibration unit 620 are configured to be coupled such that
calibration of the endoscope 600 can be repeated with
consistency.
[0077] In some embodiments, the endoscope 600, the adapter 610, and
the calibration unit 620 can be configured to mate such that
outside environmental influences such as ambient light, debris
(e.g., dust), and/or air are substantially prevented from entering
the enclosure defined by the calibration unit 620 during
calibration of an endoscopic sensor associated with the endoscope
600. In other words, the endoscope 600, the adapter 610, and the
calibration unit 620 are configured such that an environment within
the calibration unit 620 can be substantially controlled during
calibration of an endoscopic sensor of the endoscope 600. In some
embodiments, a sealing mechanism (not shown) such as an o-ring can
be disposed between the endoscope 600, the adapter 610, and/or the
calibration unit 620 to substantially prevent influence from the
ambient environment during calibration of the endoscope 600.
[0078] Although at least a portion of the adapter 610 (as shown in
FIG. 6) is disposed outside of the calibration unit 620 when the
adapter 610 is coupled to the calibration unit 620, in some
embodiments, the adapter 610 and calibration unit 620 are
configured such that the adapter 610 is entirely disposed within
the calibration unit 620 when the adapter 610 is coupled to the
calibration unit 620.
[0079] FIG. 7 is a schematic diagram that illustrates a set of
adapters 720 and 730 configured to be coupled to a calibration unit
740, according to an embodiment of the invention. Adapter 720 has a
bore 724 configured to receive a distal portion 702 of an endoscope
700, and adapter 730 has a bore 734 configured to receive a distal
portion 712 of an endoscope 710 that has a diameter greater than
that of endoscope 700. Although adapter 720 and adapter 730 are
configured to receive endoscopes that have different distal
diameters (or shapes), adapter 720 and adapter 730 are both
configured such that they can be received within an opening 742 of
calibration unit 740. Adapters 720 and 730 can include windows 722
and 732, respectively. Each window 722 and 732 can be substantially
transparent to one or more spectral regions of EM radiation and can
be attached to a substantially opaque part (e.g., which includes
the respective bores 724 and 734) that blocks ambient light.
[0080] Both endoscope 700 and endoscope 710 can be securely fitted
via the adapters 720 and 730, respectively, such that the
endoscopes 700 and 710 can be calibrated by the calibration unit
740. The calibration unit 740 can be configured to calibrate
endoscope 700 when adapter 720 is inserted into the calibration
unit 740 and the endoscope 700 is inserted into the adapter 720.
The endoscope 700, the adapter 720, and the calibration unit 740
are configured to fit together such that the ambient environment
outside of the calibration unit 740 will substantially be prevented
from affecting calibration of endoscope 700 during calibration.
Likewise, the calibration unit 740 can be configured to calibrate
endoscope 710 when adapter 730 is inserted into the calibration
unit 740 and when the endoscope 710 is inserted into the adapter
730. The endoscope 710, the adapter 730, and the calibration unit
740 are configured to fit together such that the ambient
environment outside of the calibration unit 740 will substantially
be prevented from affecting calibration of endoscope 710 during
calibration.
[0081] Although the distal portion 702 of the endoscope 700 has a
circular shape and the adapter 720 has a corresponding circular
bore 724 configured to receive the distal portion 702, in some
embodiments, the distal portion 702 of the endoscope 700 and the
bore 724 of the adapter can be configured such that the endoscope
700 can only fit into the bore 724 in a finite number of
orientations (e.g., one orientation, two orientations). For
example, the distal portion 702 of the endoscope 700 can have an
oval shape and the bore 724 can have a corresponding oval shape.
Likewise, an outside portion of the adapter 720 and the opening 742
of the calibration unit 740 can be configured such that the adapter
720 can only be inserted into the opening 742 of the calibration
unit 740 in a finite number of orientations (e.g., one orientation,
two orientations).
[0082] FIG. 8 is a schematic block diagram that illustrates an
endoscope 800 received by an adapter 810 that has been received by
a calibration unit 820, according to an embodiment of the
invention. The endoscope 800 has been inserted into the adapter 810
such that an orientation feature 802 of the endoscope 800 is
aligned with an orientation feature 812 of the adapter 810. Also as
shown in FIG. 8, the adapter 810 has been inserted into the
calibration unit 820 such that the orientation feature 812 of the
adapter 810 is aligned with an orientation feature 822 of the
calibration unit 820. The orientation features 802, 812, and 822
are configured such that the endoscope 800 (and/or an endoscopic
sensor (not shown)) has a specified orientation relative to the
calibration unit 820 (and/or a calibration target (not shown)) when
the orientation features 802, 812, and 822 are aligned.
[0083] In some embodiments, the orientation features 802, 812, and
822 can be configured such that the endoscope 800 has a specified
orientation relative to the calibration unit 820 when the
orientation features 802, 812, and 822 have a specified orientation
with respect to one another (e.g., unaligned orientation). Although
in this embodiment the endoscope 800, the adapter 810, and the
calibration unit 820 each have an orientation feature, in some
embodiments, only the endoscope 800 and calibration unit 820 can
have orientation features (not shown) that are configured such that
the endoscope 800 has a specified orientation relative to the
calibration unit 820 when the orientation features are aligned.
[0084] In some embodiments, the number of orientations with which
the endoscope 800 can be received by the adapter 810 can be limited
(e.g., one, less than three) if the endoscope 800 and the adapter
810 have different shapes than those shown in FIG. 8. Also, the
number of orientations with which the adapter 810 can be received
by the calibration unit 820 can be limited (e.g., one, less than
three) if the adapter 810 and the calibration unit 820 have
different shapes than those shown in FIG. 8.
[0085] FIG. 9 is a schematic diagram that illustrates a
cross-sectional view of an endoscope 800 received by an adapter 810
that has been received by a calibration unit 820, according to an
embodiment of the invention. In this embodiment, the
cross-sectional view is within a plane that is normal to a
longitudinal axis of the endoscope 800. The adapter 810 can be
received by the calibration unit 820 in the orientation shown in
FIG. 9 when the orientation feature 852 of the adapter 810 is mated
with orientation feature 850 of the calibration unit 820.
Similarly, the endoscope 800 can be received by the calibration
unit in the orientation shown in FIG. 9 when orientation feature
842 of the endoscope 800 is mated with the orientation feature 840
of the adapter 810. The orientation features 840, 842, 850, and 852
can be configured such that an endoscopic sensor 830 has a
specified orientation relative to a component (not shown)
associated with the calibration unit 820 when coupled as shown in
FIG. 9.
[0086] As shown in FIG. 9, the adapter 810 is received by the
calibration unit 820 such that the cross-sectional area of the
adapter 810 is outside of the center of the calibration unit 820 as
indicated by the intersection of the dashed lines. Also as shown in
FIG. 9, the endoscope 800 is received by the adapter 810 such that
the cross-sectional area of the endoscope 800 is offset from the
center of the adapter 810.
[0087] FIG. 10 is a schematic block diagram of a side
cross-sectional view of an endoscope 1000 received by an adapter
1010 that has been received by a calibration unit 1050, according
to an embodiment of the invention. The distance 1040 between an
endoscopic sensor 1002 and a calibration component 1054 (e.g.,
active calibration component, calibration target) is defined by a
thickness 1020 of a window 1012 of the adapter 1010 and a distance
1030. The distance 1030 is the distance between the distal side of
window 1012 of the adapter 1010 and the proximal side of
calibration component 1054 when the adapter 1010 is inserted into
the calibration unit 1050 until the adapter 1010 is in contact with
(or near contact with) a protrusion 1052 of the calibration unit
1050. In some embodiments, the endoscopic sensor 1002 can be
calibrated by the calibration unit 1050 when the endoscope 1000 is
received by the adapter 1010 and the adapter 1010 has been received
by the calibration unit 1050 as shown in FIG. 10.
[0088] In some embodiments, the thickness 1020 of the window 1012
of the adapter 1010 and/or the protrusion 1052 can be configured
such that the distance 1040 between the endoscopic sensor 1002 and
the calibration component 1054 is different than that shown in FIG.
10. In some embodiments, the distance 1040 can be defined based on
the type of endoscope 1000 and/or the type of endoscopic sensor
1002.
[0089] In some embodiments, the adapter 1010 can be an adjustable
adapter. For example, the window 1012 can be removably coupled to
the adapter 1010 such that the window 1012 can be removed and
replaced with a window (not shown) that has a different thickness,
shape and/or spectral characteristics. Thus, the endoscopic sensor
1002, for example, can have a different position relative to the
calibration component 1054 when the endoscope 1000 is inserted into
the adapter 1010 and the adapter 1010 is inserted into the
calibration unit 1050. In some embodiments, a body portion 1014 of
the adapter 1010 can be replaced with a body portion (not shown)
that has a different size and/or shape such that the endoscope 1000
can be in a different position relative to any portion of the
calibration unit 1050 when the endoscope 1000 is inserted into the
adapter 1010 and the adapter 1010 is inserted into the calibration
unit 1050. Although the adapter 1010 in this embodiment has a
window 1012 and a body portion 1014, in some embodiments the
adapter 1010 can be constructed of a single material (e.g., same
material as the window 1012, same material as the body portion
1014) or multiple materials.
[0090] FIG. 11 is a schematic block diagram of a side
cross-sectional view of an endoscope 1100 received by an adapter
1130 that has been received by a calibration unit 1120, according
to an embodiment of the invention. The adapter 1130 includes a body
portion (e.g., an endoscope holder) 1132 for receiving the
endoscope 1100. The adapter 1130 is configured such that a
longitudinal axis 1104 of the endoscope 1100 has a specified angle
1150 relative to a direction 1126 normal to a plane associated with
a calibration component 1124 when the endoscope 1100 is received by
the adapter 1130 as shown in FIG. 11. Thus, the endoscopic sensor
1102 has a specified orientation relative to the calibration
component 1124. In some embodiments, the calibration component 1124
can be an active calibration component or a calibration target.
[0091] In some embodiments, the angle 1150 can be defined to
accommodate a calibration requirement associated with the
endoscopic sensor 1102. For example, the angle 1150 can be defined
to enable calibration of the endoscopic sensor 1102 at a specified
angle of incidence with respect to, for example, EM radiation
emitted from an EM radiation source (not shown) of the calibration
component 1124. In some embodiments, the position and/or
orientation of calibration component 1124 can be varied, for
example, so that the longitudinal axis 1104 of the endoscope 1100
is substantially parallel to the direction 1126 normal to the plane
associated with the calibration component 1124.
[0092] As shown in FIG. 11, the calibration unit 1120 has a window
1140 and the adapter has a window 1134 configured to contact (or
nearly contact) the window 1140 when the adapter 1130 is coupled to
the calibration unit 1120. The endoscope 1100 is configured to
contact (or nearly contact) the window 1134 when inserted into the
adapter 1130. In some embodiments, these components are configured
to contact (or nearly contact) each other such that small
imperfections associated with the window 1134 and/or the window
1140 may not be perceptible to the endoscopic sensor 1102 (e.g.,
out of focus) during calibration, and thus, may not affect
calibration of the endoscopic sensor 1102. The window 1140 can be
removably coupled to the calibration unit 1120 such that the window
1140 can be replaced, if necessary. In some embodiments, the window
1140 of the calibration unit 1120 can be substantially transparent
to one or more specified spectral regions of EM radiation. The
window 1134 of the adapter 1130 can also be substantially
transparent to the spectral region(s) of EM radiation or a
different spectral region(s) of EM radiation.
[0093] FIG. 12 is a schematic block diagram of a side
cross-sectional view of an endoscope 1200 received by an adapter
1220 that has been received by a calibration unit 1240, according
to an embodiment of the invention. The calibration unit 1240 has a
calibration component 1234 that can be an active calibration
component or a calibration target configured for use during
calibration of an endoscopic sensor (not shown) of the endoscope
1200. The endoscope 1200 has a lumen 1204 (e.g., channel) that can
include, for example, a fiber optic configured to facilitate
transmission of EM radiation 1260 emitted from or reflected from
the calibration component 1234 towards the endoscope 1200. The
endoscopic sensor (not shown) can be configured to receive the EM
radiation 1260 via the lumen 1204.
[0094] The adapter 1220 is configured such that an opening 1202 of
the endoscope 1200 can be removably coupled to a protrusion 1226 of
the adapter 1220 such that the endoscope 1200 has a specified
orientation relative to the calibration unit 1240. In this
embodiment, the protrusion 1226 is defined by a portion of a window
1224 of the adapter 1220, but in some embodiments, the protrusion
1226 can be defined by a different portion of the adapter 1220
(e.g., body portion or endoscope holder 1228). In some embodiments,
the protrusion 1226 can have a different shape and can be
configured to be inserted into a different portion of the endoscope
1200.
[0095] As shown in FIG. 12, the calibration unit 1240 has a window
1250. The calibration unit 1240 also has a sensor 1270 configured
to send a signal that can be used to determine whether or not the
adapter 1220 and/or endoscope 1200 have been inserted into a
desirable position within the calibration unit 1240. In some
embodiments, the calibration unit 1240 can have more than one
sensor (not shown) configured to detect the position of the adapter
1220 and/or endoscope 1200 relative to the calibration unit
1240.
[0096] FIG. 13 is a flowchart that illustrates a method for
coupling an adapter to a calibration unit and coupling an endoscope
to the adapter, according to an embodiment of the invention. An
adapter is inserted into a calibration unit at 1300, and an
endoscope is inserted into the adapter at 1310. An indicator that
the endoscope and/or the adapter have been inserted in a specified
manner is sent at 1320. The indicator can be sent from a sensor and
received at, for example, a calibration control module.
[0097] An endoscopic sensor is calibrated based on a calibration
procedure at 1330. The calibration procedure can have more than one
calibration instruction and can be initiated in response to the
endoscope being inserted into the adapter. The calibration
procedure can be executed by a calibration control module disposed
within or outside of the calibration unit.
[0098] In some embodiments, the blocks in the flowchart shown in
FIG. 13 can be performed in a different order. For example, the
endoscope can be inserted into the adapter before the adapter is
inserted into the calibration unit. In some embodiments, the
adapter can be coupled to the calibration unit based on one or more
orientation features associated with the adapter and/or the
calibration unit. In some embodiments, the endoscope can be coupled
to the adapter based on one or more orientation features associated
with the endoscope and/or the adapter. The orientation features can
be, for example, a protrusion, a notch, and/or a mark.
[0099] In an embodiment, an apparatus can include an enclosure
configured to receive an endoscope having an electromagnetic
radiation sensor. The apparatus can also have an electromagnetic
radiation source that has at least a portion disposed within the
enclosure and is configured to emit electromagnetic radiation based
on a calibration instruction such that the electromagnetic
radiation sensor receives at least a portion of the electromagnetic
radiation when at least a portion of the endoscope is coupled to
the enclosure.
[0100] In some embodiments, the enclosure can be configured to
prevent electromagnetic radiation produced outside of the enclosure
from being received by the electromagnetic radiation sensor when
the portion of the endoscope is coupled to the enclosure. In some
embodiments, the electromagnetic radiation sensor can be configured
to produce a signal based on the portion of the electromagnetic
radiation and the apparatus can also includes a processor
configured to determine a correction factor associated with the
electromagnetic radiation sensor based on the signal.
[0101] In some embodiments, the electromagnetic radiation can
define a first calibration target and the electromagnetic radiation
sensor can be configured to produce a signal based on the first
calibration target. The apparatus can also have a processor
configured to trigger the electromagnetic radiation source to emit
electromagnetic radiation defining a second calibration target in
response to the signal.
[0102] In some embodiments, the electromagnetic radiation source
can be configured to emit electromagnetic radiation at a first time
and the portion can be a first portion. The apparatus also can
include a detector configured to produce a signal based on an
intensity level associated with at least a second portion of the
electromagnetic radiation received at the detector. The apparatus
also can include a processor configured to trigger the
electromagnetic radiation source to emit electromagnetic radiation
at a second time different than the first time based on the
signal.
[0103] In some embodiments, the calibration instruction can be a
first calibration instruction and the apparatus can further include
an actuator coupled to the electromagnetic radiation source. The
actuator can be configured to move the electromagnetic radiation
source relative to the endoscope based on a second calibration
instruction.
[0104] In some embodiments, the endoscope can be a first endoscope
and the calibration instruction can be associated with the first
endoscope. The enclosure can be configured to receive a second
endoscope different than the first endoscope and the
electromagnetic radiation source can be configured to emit
electromagnetic radiation based on a second calibration instruction
associated with a second endoscope. In some embodiments, the second
calibration instruction can be different than the first calibration
instruction.
[0105] In some embodiments, the apparatus also can include a
processor configured to trigger the endoscope to acquire at least
one frame based on the electromagnetic radiation in response to the
calibration instruction. In some embodiments, the electromagnetic
radiation source can be a liquid crystal display.
[0106] In some embodiments, the electromagnetic radiation source
can be configured to define a test pattern based on the
electromagnetic radiation and the electromagnetic radiation sensor
can be configured to produce a response based on the test pattern.
The apparatus can also include a processor configured to modify a
correction factor associated with the electromagnetic radiation
sensor of the endoscope based on the response.
[0107] In some embodiments, a method can include emitting
electromagnetic radiation at a first time from an electromagnetic
radiation source that has at least a portion disposed within an
enclosure. The method can include receiving a signal from a sensor
defined based on a portion of the electromagnetic radiation
received at the sensor while at least a portion of an endoscope is
received within the enclosure. The method can also include emitting
electromagnetic radiation at a second time different than the first
time in response to the signal and based on a calibration algorithm
associated with the endoscope.
[0108] In some embodiments, emitting at the first time can include
emitting electromagnetic radiation defining a first calibration
target and emitting at the second time can include emitting
electromagnetic radiation defining a second calibration target
different from the first calibration target. In some embodiments,
the emitting at the first time can include emitting electromagnetic
radiation defining a calibration target and emitting at the second
time can include emitting electromagnetic radiation defining a test
target.
[0109] In some embodiments, the sensor can be an electromagnetic
radiation sensor associated with the endoscope and the method can
include determining whether a responsiveness of the electromagnetic
radiation sensor satisfies a failure condition based on the signal
and sending a notification in response to the determining. In some
embodiments, the method can include moving the electromagnetic
radiation source relative to the endoscope based on the signal.
[0110] In some embodiments, the portion can be a first portion and
the sensor can have a portion disposed within the enclosure.
Emitting associated with the first time can include emitting such
that at least a second portion of the electromagnetic radiation at
the first time is received by an electromagnetic radiation sensor
associated with the endoscope.
[0111] In some embodiments, the sensor can be an electromagnetic
radiation sensor associated with the endoscope. The method can also
include defining a correction factor associated with the
electromagnetic radiation sensor based on the signal. In some
embodiments, the sensor can be associated with the endoscope and
the signal can be a first signal. The method can also include
sending a second signal different than the first signal to the
endoscope to trigger the sensor to acquire a frame associated with
at least one of the electromagnetic radiation emitted at the first
time or the electromagnetic radiation emitted at the second
time.
[0112] In yet another embodiment, an apparatus can include an
adapter that has an opening configured to receive a portion of an
endoscope and a calibration unit that can be configured to receive
the adapter such that an image sensor of the endoscope has a
specified position relative to a target disposed within the
calibration unit when the adapter is coupled to the calibration
unit and the endoscope is coupled to the adapter.
[0113] In some embodiments, the target can be an active calibration
component that has a portion configured to emit electromagnetic
radiation based on a calibration algorithm associated with the
endoscope. In some embodiments, the target can be an active test
target to emit electromagnetic radiation based on a calibration
algorithm associated with the endoscope.
[0114] In some embodiments, the calibration unit can have an
orientation feature associated with an orientation feature of the
endoscope. The image sensor can have a specified orientation within
a plane normal to a longitudinal axis of the endoscope when the
orientation feature of the calibration unit is aligned with the
orientation feature of the endoscope.
[0115] In some embodiments, a first orientation feature associated
with the adapter can be configured to mate with an orientation
feature of the endoscope. A second orientation feature associated
with the adapter can be configured to mate with an orientation
feature associated with the calibration unit.
[0116] In some embodiments, the adapter can have a portion distal
to the image sensor of the endoscope when the endoscope is coupled
to the adapter. In some embodiments, the portion can be transparent
to visible light. In some embodiments, a distance between the image
sensor and the calibration target can be defined, at least in part,
by a portion of the adapter distal to the image sensor of the
endoscope when the endoscope is coupled to the adapter.
[0117] In some embodiments, the adapter can be a first adapter and
the endoscope can be a first endoscope. The calibration unit can be
configured receive a second adapter different than the first
adapter and the second adapter can be associated with a second
endoscope different than the first endoscope. In some embodiments,
the apparatus can include a sensor configured to trigger execution
of a calibration algorithm when the adapter is coupled to the
calibration unit and the endoscope is coupled to adapter.
[0118] In some embodiments, the apparatus can include a sensor
configured to send an alarm indicator when execution of a
calibration algorithm is initiated and when the endoscope is not in
the specified position relative to the target. In some embodiments,
the calibration target can be associated with an image disposed
within a plane and a longitudinal axis of the endoscope can be
non-parallel to the plane when the endoscope is coupled to the
adapter and the adapter is coupled to the calibration unit.
[0119] In some embodiments, the apparatus can include a processor
configured to initiate execution of a calibration algorithm at a
first time when the endoscope is in the specified position relative
to the target and a sensor configured to terminate the execution of
the calibration algorithm at a second time when the endoscope is
moved from the specified position relative to the target.
[0120] Some embodiments relate to a computer storage product with a
computer-readable medium (also referred to as a processor-readable
medium) having instructions or computer code thereon for performing
various computer-implemented operations. The media and computer
code (also referred to as code) may be those specially designed and
constructed for the specific purpose or purposes. Examples of
computer-readable media include, but are not limited to: magnetic
storage media such as hard disks, floppy disks, and magnetic tape;
optical storage media such as Compact Disc/Digital Video Discs
(CD/DVDs), Compact Disc-Read Only Memories (CD-ROMs), and
holographic devices; magneto-optical storage media such as
floptical disks; carrier wave signals; and hardware devices that
are specially configured to store and execute program code, such as
ASICs, Programmable Logic Devices (PLDs), and ROM and RAM devices.
Examples of computer code include, but are not limited to,
micro-code or micro-instructions, machine instructions, such as
produced by a compiler, and files containing higher-level
instructions that are executed by a computer using an interpreter.
For example, an embodiment of the invention may be implemented
using Java, C++, or other object-oriented programming language and
development tools. Additional examples of computer code include,
but are not limited to, control signals, encrypted code, and
compressed code.
[0121] In conclusion, methods and apparatus for calibration of a
sensor associated with an endoscope are described. Variations and
substitutions may be made to achieve substantially the same results
as achieved by the embodiments described herein. Accordingly, there
is no intention to be limited to the disclosed exemplary forms.
Many variations, modifications and alternative constructions are
possible.
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